一. 从预编译版本或从仓库安装pcl
1. 安装pcl
-
使用官方提供的预编译版本
地址
http://www.pointclouds.org/downloads/linux.html
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key 19274DEF
sudo echo "deb http://ppa.launchpad.net/v-launchpad-jochen-sprickerhof-de/pcl/ubuntu maverick main" >> /etc/apt/sources.list
sudo apt-get update
sudo apt-get install libpcl-all
问题
sudo apt-get install libpcl-all时有依赖问题无法解决
-
从deepin软件仓库直接安装
sudo apt-get install libpcl1.7 # 也有其他版本
此方法安装成功
2. 安装python-pcl
地址
https://github.com/strawlab/python-pcl
git clone https://github.com/strawlab/python-pcl
cd python-pcl
make
sudo python setup.py install
问题
make时失败，提示
python setup.py build_ext --inplace
setup.py: error: cannot find PCL, tried
pkg-config pcl_common-1.7
pkg-config pcl_common-1.6
pkg-config pcl_common
Makefile: 5: recipe for target 'pcl/_pcl.so' failed
make: *** [pcl/_pcl.so] Error 1
二. 以源码编译方式安装pcl
1. 安装pcl
因为安装预编译过的或者从从仓库中安装pcl后，都存在问题，所以从源码编译安装试试
参考
http://blog.csdn.net/u014222645/article/details/45232917
http://blog.csdn.net/zhuquan945/article/details/52809064
1. 下载PCL源代码
$ git clone https://github.com/PointCloudLibrary/pcl.git
2. 安装相关的库
$ sudo apt-get install libboost-all-dev libeigen3-dev libflann-dev python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz libpng12-dev libgtest-dev libxmu-dev libxi-dev libpcap-dev libqhull-dev libvtk5-qt4-dev python-vtk libvtk-java
注意：libflann版本要大于1.7，libvtk5-qt4-dev和 libpng12-dev可能会有冲突
3. 编译pcl源码
cd pcl
mkdir build & cd build
cmake -D CMAKE_BUILD_TYPE=None -D BUILD_GPU=ON -D BUILD_apps=ON -D BUILD_examples=ON .. # 如果这一步提示缺什么就再装什么
make
sudo make install
2. 安装python-pcl
git clone https://github.com/strawlab/python-pcl
cd python-pcl
make
sudo python setup.py install
注意：
make时如果出现如下错误
Package pcl_2d-1.8 was not found in the pkg-config search path.
Perhaps you should add the directory containing pcl_2d-1.8.pc' to the PKG_CONFIG_PATH ......
需要修改/usr/local/lib/pkgconfig/pcl_features-1.8.pc文件，删除第10行的pcl_2d-1.8
原文
http://jlan.me/2016/11/07/deepin%E4%B8%8A%E5%AE%89%E8%A3%85pcl%E5%8F%8Apython-pcl/
